Multi-Agent Task Allocation using Cross-Entropy Temporal Logic Optimization
Christopher Banks,Sean Wilson,Samuel Coogan,Magnus Egerstedt,Christopher Banks,Sean Wilson,Samuel Coogan,Magnus Egerstedt
In this paper, we propose a graph-based search method to optimally allocate tasks to a team of robots given a global task specification. In particular, we define these agents as discrete transition systems. In order to allocate tasks to the team of robots, we decompose finite linear temporal logic (LTL) specifications and consider agent specific cost functions. We propose to use the stochastic opt...
